A control system and method for preventing entanglement of a bucket wheel machine

Abstract

The present application relates to the technical field of mechanical control, and particularly relates to a kind of anti-winding control system and method of bucket wheel machine.The present application includes: detection unit, for real-time detection of the working state of bucket wheel machine;Acquisition unit, for obtaining the working parameters of bucket wheel machine according to the working state of bucket wheel machine;Control unit, for controlling the rotation radius and rotation angle of bucket wheel machine according to the working state of bucket wheel machine and the working parameters of bucket wheel machine;Wherein, the working state of bucket wheel machine includes stacking state and material taking state, and the working parameters of bucket wheel machine include stacking output P and material taking output K.The present application controls the case of excessive output in a short time in material taking operation through automatic control technology, combined with different working states of bucket wheel machine and stacking and material taking output, to avoid winding rotating equipment due to more impurities in material, effectively reducing the winding failure rate of bucket wheel machine.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical control, and in particular to a bucket wheel machine anti-winding control system and method. Background Art

[0002] The widespread adoption of bucket-wheel stackers (BWTs) is a product of the burgeoning development of modern industry, finding widespread application in a wide range of sectors, including thermal power plants, mines, cement plants, ports, and the power industry. In modern bulk material handling operations, BWTs are an indispensable component of the streamlined production process. Therefore, the selection and proper design of the BWT bucket wheel mechanism are crucial to ensuring the equipment's functionality and performance.

[0003] However, in the existing technology, during the actual operation of the bucket wheel excavator, according to the different outputs during stacking and taking materials, the main reason for the entanglement of the bucket wheel and the cantilever is the presence of debris in the raw coal. Since such items are evenly present and cannot be avoided in the operating area, if accurate rotation control cannot be performed, it will cause the cantilever to deviate, coal to spread, slip, and other problems after entanglement, and then cause entanglement, which will waste time for maintenance, is not conducive to improving work efficiency, and will also affect the service life of the bucket wheel excavator. Therefore, how to provide a bucket wheel excavator anti-entanglement control system and method is a technical problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0004] The purpose of the present invention is to provide a bucket wheel machine anti-entanglement control system and method. The present invention uses automated control technology, combined with the different working states of the bucket wheel machine and the stacking and reclaiming output, to accurately control the rotation radius and rotation angle of the bucket wheel machine, thereby improving the working accuracy of the bucket wheel machine, and by controlling the load, effectively preventing a large amount of debris from being entangled in the bucket wheel or cantilever in a short period of time.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A bucket wheel excavator anti-entanglement control system, comprising:

[0007] A detection unit is used to detect the working status of the bucket wheel excavator in real time.

[0008] an acquisition unit, configured to acquire operating parameters of the bucket wheel machine according to the operating state of the bucket wheel machine;

[0009] A control unit, the control unit is used to control the turning radius and turning angle of the bucket wheel machine according to the working state of the bucket wheel machine and the working parameters of the bucket wheel machine; wherein the working state of the bucket wheel machine includes a stacking state and a retrieving state, and the working parameters of the bucket wheel machine include a stacking output P and a retrieving output K.

[0010] In some embodiments of the present application, a preset bucket wheel machine stacking output matrix T0 and a preset stacking rotation radius matrix A are set in the control unit. For the preset stacking rotation radius matrix A, A(A1, A2, A3, A4) is set, where A1 is a first preset stacking rotation radius, A2 is a second preset stacking rotation radius, A3 is a third preset stacking rotation radius, and A4 is a fourth preset stacking rotation radius, and 20m<A1<A2<A3<A4<25m;

[0011] For the preset bucket wheel machine stacking output matrix T0, set T0(T01, T02, T03, T04), where T01 is the first preset bucket wheel machine stacking output, T02 is the second preset bucket wheel machine stacking output, T03 is the third preset bucket wheel machine stacking output, and T04 is the fourth preset bucket wheel machine stacking output, and T01<T02<T03<T04<1500t / h;

[0012] The control unit is used to select a corresponding stockpiling turning radius as the turning radius for controlling the bucket wheel machine to turn according to the relationship between P and the preset bucket wheel machine stockpiling output matrix T0;

[0013] When P<T01, the first preset stockpile turning radius A1 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0014] When T01≤P<T02, the second preset stockpile turning radius A2 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0015] When T02≤P<T03, the third preset stockpiling turning radius A3 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0016] When T03≤P<T04, the fourth preset stockpile turning radius A4 is selected as the turning radius for controlling the bucket wheel excavator to turn.

[0017] In some embodiments of the present application, a preset bucket wheel machine reclaiming output matrix R0 and a preset reclaiming rotation radius matrix B are set in the control unit. For the preset reclaiming rotation radius matrix B, B(B1, B2, B3, B4) is set, where B1 is the first preset reclaiming rotation radius, B2 is the second preset reclaiming rotation radius, B3 is the third preset reclaiming rotation radius, and B4 is the fourth preset reclaiming rotation radius, and 30m<B1<B2<B3<B4<35m;

[0018] For the preset bucket wheel machine reclaiming output matrix R0, set R0(R01, R02, R03, R04), where R01 is the first preset bucket wheel machine reclaiming output, R02 is the second preset bucket wheel machine reclaiming output, R03 is the third preset bucket wheel machine reclaiming output, and R04 is the fourth preset bucket wheel machine reclaiming output, and R01<R02<R03<R04<800t / h;

[0019] The control unit is used to select a corresponding reclaiming turning radius as the turning radius for controlling the rotation of the bucket wheel machine according to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0;

[0020] When K<R01, the first preset reclaiming rotation radius B1 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0021] When R01≤K<R02, the second preset material reclaiming rotation radius B2 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator;

[0022] When R02≤K<R03, the third preset material reclaiming rotation radius B3 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0023] When R03≤K<R04, the fourth preset material reclaiming rotation radius B4 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator.

[0024] In some embodiments of the present application, a preset stacking material rotation angle matrix C is further set in the control unit. For the preset stacking material rotation angle matrix C, C(C1, C2, C3, C4) is set, where C1 is a first preset stacking material rotation angle, C2 is a second preset stacking material rotation angle, C3 is a third preset stacking material rotation angle, and C4 is a fourth preset stacking material rotation angle, and -105°<C1<C2<0<C3<C4<105°;

[0025] The control unit is used to select a corresponding stacking rotation angle as a rotation angle for controlling the rotation of the bucket wheel machine according to the relationship between P and the preset bucket wheel machine stacking output matrix T0;

[0026] When P<T01, the first preset stockpile rotation angle C1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0027] When T01≤P<T02, the second preset stockpile rotation angle C2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0028] When T02≤P<T03, the third preset stockpile rotation angle C3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0029] When T03≤P<T04, the fourth preset stockpile rotation angle C4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0030] In some embodiments of the present application, a preset material reclaiming rotation angle matrix D is further set in the control unit. For the preset stacking material rotation angle matrix D, D(D1, D2, D3, D4) is set, where D1 is the first preset material reclaiming rotation angle, D2 is the second preset material reclaiming rotation angle, D3 is the third preset material reclaiming rotation angle, and D4 is the fourth preset material reclaiming rotation angle, and -130°<D1<D2<0<D3<D4<130°;

[0031] The control unit is used to select a corresponding reclaiming rotation angle as the rotation angle for controlling the rotation of the bucket wheel machine according to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0;

[0032] When K<T01, the first preset reclaiming rotation angle D1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0033] When T01≤K<T02, the second preset reclaiming rotation angle D2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0034] When T02≤K<T03, the third preset material reclaiming rotation angle D3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0035] When T03≤K<T04, the fourth preset material reclaiming rotation angle D4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0036] In order to achieve the above-mentioned object, the present invention also provides a bucket wheel machine anti-entanglement control method, which is applied to the bucket wheel machine anti-entanglement control system, comprising:

[0037] Real-time detection of the working status of the bucket wheel excavator,

[0038] Acquiring the working parameters of the bucket wheel machine according to the working state of the bucket wheel machine;

[0039] The turning radius and turning angle of the bucket wheel machine are controlled according to the working state and working parameters of the bucket wheel machine; wherein,

[0040] The working states of the bucket wheel machine include a stacking state and a retrieving state, and the working parameters of the bucket wheel machine include a stacking output P and a retrieving output K.

[0041] In some embodiments of the present application, a preset bucket wheel machine stacking output matrix T0 and a preset stacking turning radius matrix A are pre-set. For the preset stacking turning radius matrix A, A(A1, A2, A3, A4) is set, where A1 is a first preset stacking turning radius, A2 is a second preset stacking turning radius, A3 is a third preset stacking turning radius, and A4 is a fourth preset stacking turning radius, and 20m<A1<A2<A3<A4<25m;

[0042] For the preset bucket wheel machine stacking output matrix T0, set T0(T01, T02, T03, T04), where T01 is the first preset bucket wheel machine stacking output, T02 is the second preset bucket wheel machine stacking output, T03 is the third preset bucket wheel machine stacking output, and T04 is the fourth preset bucket wheel machine stacking output, and T01<T02<T03<T04<1500t / h;

[0043] According to the relationship between P and the preset bucket wheel machine stacking output matrix T0, a corresponding stacking turning radius is selected as the turning radius for controlling the bucket wheel machine to rotate;

[0044] When P<T01, the first preset stockpile turning radius A1 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0045] When T01≤P<T02, the second preset stockpile turning radius A2 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0046] When T02≤P<T03, the third preset stockpiling turning radius A3 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0047] When T03≤P<T04, the fourth preset stockpile turning radius A4 is selected as the turning radius for controlling the bucket wheel excavator to turn.

[0048] In some embodiments of the present application, a preset bucket wheel machine reclaiming output matrix R0 and a preset reclaiming rotation radius matrix B are pre-set. For the preset reclaiming rotation radius matrix B, B(B1, B2, B3, B4) is set, where B1 is the first preset reclaiming rotation radius, B2 is the second preset reclaiming rotation radius, B3 is the third preset reclaiming rotation radius, and B4 is the fourth preset reclaiming rotation radius, and 30m<B1<B2<B3<B4<35m;

[0049] For the preset bucket wheel machine reclaiming output matrix R0, set R0(R01, R02, R03, R04), where R01 is the first preset bucket wheel machine reclaiming output, R02 is the second preset bucket wheel machine reclaiming output, R03 is the third preset bucket wheel machine reclaiming output, and R04 is the fourth preset bucket wheel machine reclaiming output, and R01<R02<R03<R04<800t / h;

[0050] According to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0, a corresponding reclaiming turning radius is selected as the turning radius for controlling the rotation of the bucket wheel machine;

[0051] When K<R01, the first preset reclaiming rotation radius B1 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0052] When R01≤K<R02, the second preset material reclaiming rotation radius B2 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator;

[0053] When R02≤K<R03, the third preset material reclaiming rotation radius B3 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0054] When R03≤K<R04, the fourth preset material reclaiming rotation radius B4 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator.

[0055] In some embodiments of the present application, a preset stacking material rotation angle matrix C is pre-set. For the preset stacking material rotation angle matrix C, C(C1, C2, C3, C4) is set, where C1 is a first preset stacking material rotation angle, C2 is a second preset stacking material rotation angle, C3 is a third preset stacking material rotation angle, and C4 is a fourth preset stacking material rotation angle, and -105°<C1<C2<0<C3<C4<105°;

[0056] According to the relationship between P and the preset bucket wheel machine stacking output matrix T0, a corresponding stacking rotation angle is selected as the rotation angle for controlling the bucket wheel machine to rotate;

[0057] When P<T01, the first preset stockpile rotation angle C1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0058] When T01≤P<T02, the second preset stockpile rotation angle C2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0059] When T02≤P<T03, the third preset stockpile rotation angle C3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0060] When T03≤P<T04, the fourth preset stockpile rotation angle C4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0061] In some embodiments of the present application, a preset material reclaiming rotation angle matrix D is pre-set. For the preset stacking material rotation angle matrix D, D(D1, D2, D3, D4) is set, where D1 is the first preset material reclaiming rotation angle, D2 is the second preset material reclaiming rotation angle, D3 is the third preset material reclaiming rotation angle, and D4 is the fourth preset material reclaiming rotation angle, and -130°<D1<D2<0<D3<D4<130°;

[0062] According to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0, a corresponding reclaiming rotation angle is selected as the rotation angle for controlling the rotation of the bucket wheel machine;

[0063] When K<T01, the first preset reclaiming rotation angle D1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0064] When T01≤K<T02, the second preset reclaiming rotation angle D2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0065] When T02≤K<T03, the third preset material reclaiming rotation angle D3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0066] When T03≤K<T04, the fourth preset material reclaiming rotation angle D4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0067] The present invention provides a bucket wheel excavator anti-entanglement control system and method, which has the following advantages compared with the prior art:

[0068] The present invention uses automated control technology to control the turning radius and turning angle of the bucket wheel machine according to its working state and working parameters, and has great accuracy. It can achieve precise control of the turning radius and turning angle while reducing the winding failure rate of the bucket wheel machine. The present invention also has the advantage of low energy consumption by precisely controlling the turning radius and turning angle of the bucket wheel machine. It can effectively ensure rotation without generating additional turning angles, thereby reducing energy consumption. In addition, the present invention also has the advantage of simple operation. The present invention mainly uses automated control technology, which reduces a large amount of manpower control consumption costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 This is a functional block diagram of the anti-winding control system of a bucket wheel excavator according to an embodiment of the present invention;

[0070] Figure 24 is a flow chart of the anti-entanglement control method of the bucket wheel excavator in an embodiment of the present invention. DETAILED DESCRIPTION

[0071] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0072] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0073] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0074] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0075] See Figure 1 As shown, the disclosed embodiment of the present invention provides a bucket wheel machine anti-entanglement control system, comprising:

[0076] Detection unit, which is used to detect the working status of the bucket wheel excavator in real time.

[0077] An acquisition unit, the acquisition unit is used to obtain the working parameters of the bucket wheel machine according to the working status of the bucket wheel machine;

[0078] The control unit is used to control the rotation radius and rotation angle of the bucket wheel machine according to the working state of the bucket wheel machine and the working parameters of the bucket wheel machine; wherein the working state of the bucket wheel machine includes the stacking state and the retrieving state, and the working parameters of the bucket wheel machine include the stacking output P and the retrieving output K.

[0079] In a specific embodiment of the present application, a preset bucket wheel machine stacking output matrix T0 and a preset stacking turning radius matrix A are set in the control unit. For the preset stacking turning radius matrix A, A(A1, A2, A3, A4) is set, where A1 is the first preset stacking turning radius, A2 is the second preset stacking turning radius, A3 is the third preset stacking turning radius, and A4 is the fourth preset stacking turning radius, and 20m<A1<A2<A3<A4<25m;

[0080] For the preset bucket wheel machine stacking output matrix T0, set T0(T01, T02, T03, T04), where T01 is the first preset bucket wheel machine stacking output, T02 is the second preset bucket wheel machine stacking output, T03 is the third preset bucket wheel machine stacking output, and T04 is the fourth preset bucket wheel machine stacking output, and T01<T02<T03<T04<1500t / h;

[0081] The control unit is used to select a corresponding stockpiling turning radius as the turning radius for controlling the bucket wheel machine to rotate according to the relationship between P and the preset bucket wheel machine stockpiling output matrix T0;

[0082] When P<T01, the first preset stockpiling turning radius A1 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0083] When T01≤P<T02, the second preset stockpile turning radius A2 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0084] When T02≤P<T03, the third preset stockpiling turning radius A3 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0085] When T03≤P<T04, the fourth preset stockpile turning radius A4 is selected as the turning radius for controlling the bucket wheel excavator to turn.

[0086] In a specific embodiment of the present application, a preset bucket wheel machine reclaiming output matrix R0 and a preset reclaiming rotation radius matrix B are set in the control unit. For the preset reclaiming rotation radius matrix B, B(B1, B2, B3, B4) is set, where B1 is the first preset reclaiming rotation radius, B2 is the second preset reclaiming rotation radius, B3 is the third preset reclaiming rotation radius, and B4 is the fourth preset reclaiming rotation radius, and 30m<B1<B2<B3<B4<35m;

[0087] For the preset bucket wheel machine reclaiming output matrix R0, set R0(R01, R02, R03, R04), where R01 is the first preset bucket wheel machine reclaiming output, R02 is the second preset bucket wheel machine reclaiming output, R03 is the third preset bucket wheel machine reclaiming output, and R04 is the fourth preset bucket wheel machine reclaiming output, and R01<R02<R03<R04<800t / h;

[0088] The control unit is used to select a corresponding reclaiming turning radius as the turning radius for controlling the bucket wheel machine to rotate according to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0;

[0089] When K<R01, the first preset reclaiming rotation radius B1 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0090] When R01≤K<R02, the second preset reclaiming rotation radius B2 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0091] When R02≤K<R03, the third preset reclaiming rotation radius B3 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0092] When R03≤K<R04, the fourth preset material reclaiming rotation radius B4 is selected as the rotation radius for controlling the bucket wheel excavator to rotate.

[0093] In a specific embodiment of the present application, a preset stacking material rotation angle matrix C is further set in the control unit. For the preset stacking material rotation angle matrix C, C(C1, C2, C3, C4) is set, where C1 is the first preset stacking material rotation angle, C2 is the second preset stacking material rotation angle, C3 is the third preset stacking material rotation angle, and C4 is the fourth preset stacking material rotation angle, and -105°<C1<C2<0<C3<C4<105°;

[0094] The control unit is used to select a corresponding stacking rotation angle as the rotation angle for controlling the bucket wheel machine to rotate according to the relationship between P and the preset bucket wheel machine stacking output matrix T0;

[0095] When P<T01, the first preset stockpile rotation angle C1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0096] When T01≤P<T02, the second preset stockpile rotation angle C2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0097] When T02≤P<T03, the third preset stockpile rotation angle C3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0098] When T03≤P<T04, the fourth preset stockpile rotation angle C4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0099] In a specific embodiment of the present application, a preset material reclaiming rotation angle matrix D is further set in the control unit. For the preset stacking material rotation angle matrix D, D(D1, D2, D3, D4) is set, where D1 is the first preset material reclaiming rotation angle, D2 is the second preset material reclaiming rotation angle, D3 is the third preset material reclaiming rotation angle, and D4 is the fourth preset material reclaiming rotation angle, and -130°<D1<D2<0<D3<D4<130°;

[0100] The control unit is used to select a corresponding reclaiming rotation angle as the rotation angle for controlling the bucket wheel machine to rotate according to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0;

[0101] When K<T01, the first preset reclaiming rotation angle D1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0102] When T01≤K<T02, the second preset reclaiming rotation angle D2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0103] When T02≤K<T03, the third preset reclaiming rotation angle D3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0104] When T03≤K<T04, the fourth preset material reclaiming rotation angle D4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0105] Based on the same technical concept, see Figure 2 As shown, the present invention also provides a bucket wheel machine anti-entanglement control method, which is applied to the bucket wheel machine anti-entanglement control system, including:

[0106] Real-time detection of the working status of the bucket wheel excavator,

[0107] Obtaining the working parameters of the bucket wheel machine according to the working status of the bucket wheel machine;

[0108] The turning radius and turning angle of the bucket wheel machine are controlled according to the working state and working parameters of the bucket wheel machine;

[0109] The working states of the bucket wheel excavator include the stacking state and the reclaiming state, and the working parameters of the bucket wheel excavator include the stacking output P and the reclaiming output K.

[0110] In a specific embodiment of the present application, a preset bucket wheel machine stacking output matrix T0 and a preset stacking turning radius matrix A are pre-set. For the preset stacking turning radius matrix A, A(A1, A2, A3, A4) is set, where A1 is a first preset stacking turning radius, A2 is a second preset stacking turning radius, A3 is a third preset stacking turning radius, and A4 is a fourth preset stacking turning radius, and 20m<A1<A2<A3<A4<25m;

[0111] For the preset bucket wheel machine stacking output matrix T0, set T0(T01, T02, T03, T04), where T01 is the first preset bucket wheel machine stacking output, T02 is the second preset bucket wheel machine stacking output, T03 is the third preset bucket wheel machine stacking output, and T04 is the fourth preset bucket wheel machine stacking output, and T01<T02<T03<T04<1500t / h;

[0112] According to the relationship between P and the preset bucket wheel machine stacking output matrix T0, the corresponding stacking turning radius is selected as the turning radius for controlling the bucket wheel machine to rotate;

[0113] When P<T01, the first preset stockpiling turning radius A1 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0114] When T01≤P<T02, the second preset stockpile turning radius A2 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0115] When T02≤P<T03, the third preset stockpiling turning radius A3 is selected as the turning radius for controlling the bucket wheel excavator to turn;

[0116] When T03≤P<T04, the fourth preset stockpile turning radius A4 is selected as the turning radius for controlling the bucket wheel excavator to turn.

[0117] In a specific embodiment of the present application, a preset bucket wheel machine reclaiming output matrix R0 and a preset reclaiming rotation radius matrix B are pre-set. For the preset reclaiming rotation radius matrix B, B(B1, B2, B3, B4) is set, where B1 is the first preset reclaiming rotation radius, B2 is the second preset reclaiming rotation radius, B3 is the third preset reclaiming rotation radius, and B4 is the fourth preset reclaiming rotation radius, and 30m<B1<B2<B3<B4<35m;

[0118] For the preset bucket wheel machine reclaiming output matrix R0, set R0(R01, R02, R03, R04), where R01 is the first preset bucket wheel machine reclaiming output, R02 is the second preset bucket wheel machine reclaiming output, R03 is the third preset bucket wheel machine reclaiming output, and R04 is the fourth preset bucket wheel machine reclaiming output, and R01<R02<R03<R04<800t / h;

[0119] According to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0, the corresponding reclaiming turning radius is selected as the turning radius for controlling the bucket wheel machine to rotate;

[0120] When K<R01, the first preset reclaiming rotation radius B1 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0121] When R01≤K<R02, the second preset reclaiming rotation radius B2 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0122] When R02≤K<R03, the third preset reclaiming rotation radius B3 is selected as the rotation radius for controlling the bucket wheel excavator to rotate;

[0123] When R03≤K<R04, the fourth preset material reclaiming rotation radius B4 is selected as the rotation radius for controlling the bucket wheel excavator to rotate.

[0124] In a specific embodiment of the present application, a preset stacking material rotation angle matrix C is pre-set. For the preset stacking material rotation angle matrix C, C(C1, C2, C3, C4) is set, where C1 is a first preset stacking material rotation angle, C2 is a second preset stacking material rotation angle, C3 is a third preset stacking material rotation angle, and C4 is a fourth preset stacking material rotation angle, and -105°<C1<C2<0<C3<C4<105°;

[0125] According to the relationship between P and the preset bucket wheel machine stacking output matrix T0, the corresponding stacking rotation angle is selected as the rotation angle for controlling the bucket wheel machine to rotate;

[0126] When P<T01, the first preset stockpile rotation angle C1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0127] When T01≤P<T02, the second preset stockpile rotation angle C2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0128] When T02≤P<T03, the third preset stockpile rotation angle C3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0129] When T03≤P<T04, the fourth preset stockpile rotation angle C4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0130] In a specific embodiment of the present application, a preset material reclaiming rotation angle matrix D is pre-set. For the preset stacking material rotation angle matrix D, D(D1, D2, D3, D4) is set, where D1 is the first preset material reclaiming rotation angle, D2 is the second preset material reclaiming rotation angle, D3 is the third preset material reclaiming rotation angle, and D4 is the fourth preset material reclaiming rotation angle, and -130°<D1<D2<0<D3<D4<130°;

[0131] According to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0, the corresponding reclaiming rotation angle is selected as the rotation angle for controlling the bucket wheel machine to rotate;

[0132] When K<T01, the first preset reclaiming rotation angle D1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0133] When T01≤K<T02, the second preset reclaiming rotation angle D2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0134] When T02≤K<T03, the third preset reclaiming rotation angle D3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate;

[0135] When T03≤K<T04, the fourth preset material reclaiming rotation angle D4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

[0136] In summary, the present invention controls the turning radius and turning angle of the bucket wheel according to the working state and working parameters of the bucket wheel through automated control technology, with great accuracy. While achieving precise control of the turning radius and turning angle, the entanglement failure rate of the bucket wheel is also reduced. Furthermore, the present invention has the advantage of low energy consumption by precisely controlling the turning radius and turning angle of the bucket wheel, effectively ensuring the turning without generating an additional turning angle, thereby reducing energy consumption. In addition, the present invention also has the advantage of being easy to operate. The present invention mainly uses automated control technology, which reduces a large amount of human control consumption costs. The present invention has the advantages of automation, accuracy, and efficiency.

[0137] The above is only an embodiment of the present invention, but it cannot limit the scope of the present invention. Any structural changes made according to the present invention should be deemed to fall within the scope of protection of the present invention and be subject to restrictions as long as they do not lose the essence of the present invention.

[0138] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process and related instructions of the system described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0139] It should be noted that the system provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be further decomposed or combined. For example, the modules in the above embodiment can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps and are not to be regarded as improper limitations of the present invention.

[0140] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0141] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0142] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0143] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A bucket wheel excavator anti-entanglement control system, characterized in that: include: A detection unit, the detection unit is used to detect the working status of the bucket wheel excavator in real time; an acquisition unit, configured to acquire operating parameters of the bucket wheel machine according to the operating state of the bucket wheel machine; A control unit, the control unit being configured to control the slewing radius and slewing angle of the bucket wheel machine according to the working state of the bucket wheel machine and the working parameters of the bucket wheel machine; wherein the working state of the bucket wheel machine includes a stacking state and a reclaiming state, and the working parameters of the bucket wheel machine include a stacking output P and a reclaiming output K; The control unit is set with a preset bucket wheel excavator stacking output matrix T0 and a preset stacking turning radius matrix A. For the preset stacking turning radius matrix A, A(A1, A2, A3, A4) is set, where A1 is a first preset stacking turning radius, A2 is a second preset stacking turning radius, A3 is a third preset stacking turning radius, and A4 is a fourth preset stacking turning radius, and 20m<A1<A2<A3<A4<25m; For the preset bucket wheel machine stacking output matrix T0, set T0(T01, T02, T03, T04), where T01 is the first preset bucket wheel machine stacking output, T02 is the second preset bucket wheel machine stacking output, T03 is the third preset bucket wheel machine stacking output, and T04 is the fourth preset bucket wheel machine stacking output, and T01<T02<T03<T04<1500t / h; The control unit is used to select a corresponding stockpiling turning radius as the turning radius for controlling the bucket wheel machine to rotate according to the relationship between P and the preset bucket wheel machine stockpiling output matrix T0; When P<T01, the first preset stockpile turning radius A1 is selected as the turning radius for controlling the bucket wheel excavator to turn; When T01≤P<T02, the second preset stockpile turning radius A2 is selected as the turning radius for controlling the bucket wheel excavator to turn; When T02≤P<T03, the third preset stockpiling turning radius A3 is selected as the turning radius for controlling the bucket wheel excavator to turn; When T03≤P<T04, the fourth preset stockpile turning radius A4 is selected as the turning radius for controlling the bucket wheel excavator to turn; The control unit is further provided with a preset stacking material rotation angle matrix C. For the preset stacking material rotation angle matrix C, C(C1, C2, C3, C4) is set, wherein C1 is a first preset stacking material rotation angle, C2 is a second preset stacking material rotation angle, C3 is a third preset stacking material rotation angle, and C4 is a fourth preset stacking material rotation angle, and -105°<C1<C2<0<C3<C4<105°; The control unit is used to select a corresponding stacking rotation angle as a rotation angle for controlling the rotation of the bucket wheel machine according to the relationship between P and the preset bucket wheel machine stacking output matrix T0; When P<T01, the first preset stockpile rotation angle C1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T01≤P<T02, the second preset stockpile rotation angle C2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T02≤P<T03, the third preset stockpile rotation angle C3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T03≤P<T04, the fourth preset stockpile rotation angle C4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

2. The anti-winding control system of a bucket wheel excavator according to claim 1, characterized in that: The control unit is set with a preset bucket wheel excavator reclaiming output matrix R0 and a preset reclaiming rotation radius matrix B. For the preset reclaiming rotation radius matrix B, B(B1, B2, B3, B4) is set, where B1 is the first preset reclaiming rotation radius, B2 is the second preset reclaiming rotation radius, B3 is the third preset reclaiming rotation radius, and B4 is the fourth preset reclaiming rotation radius, and 30m<B1<B2<B3<B4<35m; For the preset bucket wheel machine reclaiming output matrix R0, set R0(R01, R02, R03, R04), where R01 is the first preset bucket wheel machine reclaiming output, R02 is the second preset bucket wheel machine reclaiming output, R03 is the third preset bucket wheel machine reclaiming output, and R04 is the fourth preset bucket wheel machine reclaiming output, and R01<R02<R03<R04<800t / h; The control unit is used to select a corresponding reclaiming turning radius as the turning radius for controlling the rotation of the bucket wheel machine according to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0; When K<R01, the first preset reclaiming rotation radius B1 is selected as the rotation radius for controlling the bucket wheel excavator to rotate; When R01≤K<R02, the second preset material reclaiming rotation radius B2 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator; When R02≤K<R03, the third preset material reclaiming rotation radius B3 is selected as the rotation radius for controlling the bucket wheel excavator to rotate; When R03≤K<R04, the fourth preset material reclaiming rotation radius B4 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator.

3. The anti-winding control system of a bucket wheel excavator according to claim 2, characterized in that: The control unit is also set with a preset material reclaiming rotation angle matrix D. For the preset material reclaiming rotation angle matrix D, D(D1, D2, D3, D4) is set, where D1 is the first preset material reclaiming rotation angle, D2 is the second preset material reclaiming rotation angle, D3 is the third preset material reclaiming rotation angle, and D4 is the fourth preset material reclaiming rotation angle, and -130°<D1<D2<0<D3<D4<130°; The control unit is used to select a corresponding reclaiming rotation angle as the rotation angle for controlling the rotation of the bucket wheel machine according to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0; When K<T01, the first preset reclaiming rotation angle D1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T01≤K<T02, the second preset reclaiming rotation angle D2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T02≤K<T03, the third preset material reclaiming rotation angle D3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T03≤K<T04, the fourth preset material reclaiming rotation angle D4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

4. A bucket wheel machine anti-entanglement control method, applied to the bucket wheel machine anti-entanglement control system according to any one of claims 1 to 3, characterized in that: include: Real-time detection of bucket wheel excavator's working status; Acquiring the working parameters of the bucket wheel machine according to the working state of the bucket wheel machine; The turning radius and turning angle of the bucket wheel machine are controlled according to the working state and working parameters of the bucket wheel machine; wherein, The working states of the bucket wheel machine include a stacking state and a retrieving state, and the working parameters of the bucket wheel machine include a stacking output P and a retrieving output K.

5. The anti-winding control method of a bucket wheel excavator according to claim 4, characterized in that: A preset bucket wheel machine stockpiling output matrix T0 and a preset stockpiling turning radius matrix A are preset. For the preset stockpiling turning radius matrix A, A(A1, A2, A3, A4) is set, where A1 is a first preset stockpiling turning radius, A2 is a second preset stockpiling turning radius, A3 is a third preset stockpiling turning radius, and A4 is a fourth preset stockpiling turning radius, and 20m<A1<A2<A3<A4<25m; For the preset bucket wheel machine stacking output matrix T0, set T0(T01, T02, T03, T04), where T01 is the first preset bucket wheel machine stacking output, T02 is the second preset bucket wheel machine stacking output, T03 is the third preset bucket wheel machine stacking output, and T04 is the fourth preset bucket wheel machine stacking output, and T01<T02<T03<T04<1500t / h; According to the relationship between P and the preset bucket wheel machine stacking output matrix T0, a corresponding stacking turning radius is selected as the turning radius for controlling the bucket wheel machine to rotate; When P<T01, the first preset stockpile turning radius A1 is selected as the turning radius for controlling the bucket wheel excavator to turn; When T01≤P<T02, the second preset stockpile turning radius A2 is selected as the turning radius for controlling the bucket wheel excavator to turn; When T02≤P<T03, the third preset stockpiling turning radius A3 is selected as the turning radius for controlling the bucket wheel excavator to turn; When T03≤P<T04, the fourth preset stockpile turning radius A4 is selected as the turning radius for controlling the bucket wheel excavator to turn.

6. The anti-winding control method of a bucket wheel excavator according to claim 4, characterized in that: A preset bucket wheel machine reclaiming output matrix R0 and a preset reclaiming rotation radius matrix B are pre-set. For the preset reclaiming rotation radius matrix B, B(B1, B2, B3, B4) is set, where B1 is a first preset reclaiming rotation radius, B2 is a second preset reclaiming rotation radius, B3 is a third preset reclaiming rotation radius, and B4 is a fourth preset reclaiming rotation radius, and 30m<B1<B2<B3<B4<35m; For the preset bucket wheel machine reclaiming output matrix R0, set R0(R01, R02, R03, R04), where R01 is the first preset bucket wheel machine reclaiming output, R02 is the second preset bucket wheel machine reclaiming output, R03 is the third preset bucket wheel machine reclaiming output, and R04 is the fourth preset bucket wheel machine reclaiming output, and R01<R02<R03<R04<800t / h; According to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0, a corresponding reclaiming turning radius is selected as the turning radius for controlling the rotation of the bucket wheel machine; When K<R01, the first preset reclaiming rotation radius B1 is selected as the rotation radius for controlling the bucket wheel excavator to rotate; When R01≤K<R02, the second preset material reclaiming rotation radius B2 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator; When R02≤K<R03, the third preset material reclaiming rotation radius B3 is selected as the rotation radius for controlling the bucket wheel excavator to rotate; When R03≤K<R04, the fourth preset material reclaiming rotation radius B4 is selected as the rotation radius for controlling the rotation of the bucket wheel excavator.

7. The anti-winding control method of a bucket wheel excavator according to claim 5, characterized in that: A preset stacking material rotation angle matrix C is pre-set. For the preset stacking material rotation angle matrix C, C(C1, C2, C3, C4) is set, where C1 is a first preset stacking material rotation angle, C2 is a second preset stacking material rotation angle, C3 is a third preset stacking material rotation angle, and C4 is a fourth preset stacking material rotation angle, and -105°<C1<C2<0<C3<C4<105°; According to the relationship between P and the preset bucket wheel machine stacking output matrix T0, a corresponding stacking rotation angle is selected as the rotation angle for controlling the bucket wheel machine to rotate; When P<T01, the first preset stockpile rotation angle C1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T01≤P<T02, the second preset stockpile rotation angle C2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T02≤P<T03, the third preset stockpile rotation angle C3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T03≤P<T04, the fourth preset stockpile rotation angle C4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

8. The anti-winding control method of a bucket wheel excavator according to claim 6, characterized in that: A preset material reclaiming rotation angle matrix D is pre-set. For the preset material reclaiming rotation angle matrix D, D(D1, D2, D3, D4) is set, where D1 is a first preset material reclaiming rotation angle, D2 is a second preset material reclaiming rotation angle, D3 is a third preset material reclaiming rotation angle, and D4 is a fourth preset material reclaiming rotation angle, and -130°<D1<D2<0<D3<D4<130°; According to the relationship between K and the preset bucket wheel machine reclaiming output matrix R0, a corresponding reclaiming rotation angle is selected as the rotation angle for controlling the rotation of the bucket wheel machine; When K<T01, the first preset reclaiming rotation angle D1 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T01≤K<T02, the second preset reclaiming rotation angle D2 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T02≤K<T03, the third preset material reclaiming rotation angle D3 is selected as the rotation angle for controlling the bucket wheel excavator to rotate; When T03≤K<T04, the fourth preset material reclaiming rotation angle D4 is selected as the rotation angle for controlling the bucket wheel excavator to rotate.

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